2.6 Tool Coordinates
2-9
2.6
Tool Coordinates
2.6.1
Axis Motion
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are
defined at the tip of the tool. The motion of each axis is shown in the following table:
Rolls around
θ
-axis
Moves perpendicular to r-axis
Axis Motion in Tool Coordinates
Axis Name
Axis
Operation
Key
Motion
Basic
Axes
X- Axis
Moves parallel to X-axis.
Y- Axis
Moves parallel to Y-axis.
Z- Axis
Moves parallel to Z-axis.
Wrist Axes
TCP Control Motion is executed. See "
2.8 Tool Tip Operations ".
When two or more keys are pressed at the same time, the manipulator will perform com-
pound moves. However, if two different directional keys for the same axis are pressed at
the same time (such as [X-] + [X+]), none of the axes operate.
S U P P L E -
M E N T
Summary of Contents for XRC 2001
Page 4: ...XRC Operator s Manual for Spot Welding ii MOTOMAN NOTES ...
Page 22: ...x ...
Page 25: ...1 3 Programming Pendant 1 3 1 3 Programming Pendant Programming Pendant ...
Page 32: ...2 2 Turning on the Servo Power 2 4 ...
Page 34: ...3 1 Manipulator Motion 3 2 ...
Page 52: ...4 2 Playback 4 2 ...
Page 62: ...5 4 Welding Test 5 10 ...
Page 78: ...7 3 Cutting Test 7 6 ...
Page 84: ...8 4 Welding Test 8 6 ...
Page 86: ...9 2 Turning the Main Power Off 9 2 ...
Page 87: ......
Page 103: ...xvi ...
Page 125: ...1 5 About the Security Mode 1 22 ...
Page 209: ...4 6 Displaying Job Stack 4 34 ...
Page 299: ...6 5 Mirror Shift Function 6 34 ...
Page 329: ...8 2 ...
Page 331: ...9 2 ...
Page 341: ...10 2 Registering Work Instructions 10 10 ...
Page 349: ...11 3 Spot Gun Condition Data File 11 8 ...
Page 373: ...14 5 Spot Welding Specific Signal Allocation List 14 12 ...
Page 375: ...15 1 Table of Work Instructions 15 2 ...
Page 385: ...11 10 ...
Page 386: ......